WO2022064737A1 - Robot mobile, manipulateur mobile, procédé de commande de robot mobile - Google Patents

Robot mobile, manipulateur mobile, procédé de commande de robot mobile Download PDF

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Publication number
WO2022064737A1
WO2022064737A1 PCT/JP2021/008765 JP2021008765W WO2022064737A1 WO 2022064737 A1 WO2022064737 A1 WO 2022064737A1 JP 2021008765 W JP2021008765 W JP 2021008765W WO 2022064737 A1 WO2022064737 A1 WO 2022064737A1
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WO
WIPO (PCT)
Prior art keywords
voltage
mobile robot
battery
electric load
specific range
Prior art date
Application number
PCT/JP2021/008765
Other languages
English (en)
Japanese (ja)
Inventor
孝浩 井上
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Priority to CN202180058145.5A priority Critical patent/CN116056846A/zh
Priority to EP21871873.2A priority patent/EP4219097A4/fr
Priority to US18/020,426 priority patent/US20230294311A1/en
Publication of WO2022064737A1 publication Critical patent/WO2022064737A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00304—Overcurrent protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/20—Inrush current reduction, i.e. avoiding high currents when connecting the battery

Definitions

  • the present invention relates to a mobile robot.
  • Mobile manipulator that is a mobile robot equipped with a manipulator.
  • Mobile manipulators are used to transfer workpieces in factories.
  • Patent Document 1 discloses a technique for determining whether or not the electric power of the main battery can be used at the time of starting an electric vehicle equipped with an engine, and using the electric power of the main battery.
  • the remaining charge of the battery is estimated from the voltage of the battery, and when the remaining charge of the battery becomes equal to or less than the threshold value, the electric vehicle (hybrid vehicle) uses the main battery. Stop, start the engine and run.
  • the battery may be damaged by the inrush current at startup. Therefore, it is not enough to consider only the remaining charge of the battery, and it is necessary to prevent the maximum current value of the battery that operates the mobile manipulator from being exceeded.
  • One aspect of the present invention is to provide a mobile robot that prevents the output current of a battery from exceeding the rated current due to the inrush current of an electric load.
  • the mobile robot is a mobile robot capable of mounting an electric load, and has a voltage acquisition unit for acquiring the voltage of a battery that supplies power to the electric load.
  • a voltage acquisition unit for acquiring the voltage of a battery that supplies power to the electric load.
  • the method for controlling a mobile robot includes a voltage acquisition step of acquiring the voltage of a battery that supplies power to an electric load mounted on the mobile robot, and determining whether the voltage is within a specific range. When it is determined in the condition determination step and the condition determination step that the voltage is within the specific range, (i) the activation of the electric load is prohibited, or (ii) the voltage of the transformed battery.
  • the specific range is a voltage range of a part of the voltage range in which the electric load can be operated, including a start control step of supplying the electric load to the electric load to activate the electric load.
  • a mobile robot that prevents the output current of the battery from exceeding the rated current due to the inrush current of the electric load.
  • a manipulator includes a multi-axis high-power motor and a large-capacity regulated power supply. Therefore, the electric load tends to be very large.
  • a high-output motor consumes a large amount of electric power at the time of starting and starts, so that the inrush current becomes large under the condition that the input voltage is low.
  • This characteristic is not limited to high-power motors, but can be said to be an electric load that consumes a large amount of power at an arbitrary start-up.
  • the conditions for increasing the inrush current differ depending on the type of electric load. That is, when considering a general electric device in which a plurality of electric loads are combined, it can be said that the inrush current of the electric device changes depending on the characteristics of the electric load and the state of the power supply voltage.
  • the electric power that can be supplied by the battery needs to exceed the rated power of the electric device in order for the electric load to operate.
  • the inrush current of the electric device In order to activate the electric load, the inrush current of the electric device must be equal to or less than the rated current value of the battery.
  • the mobile robot of the present embodiment prohibits the activation of the electric load when the battery voltage is within a specific range such that the inrush current of the electric load becomes higher than a predetermined value.
  • FIG. 1 is a block diagram showing a configuration of a main part of the mobile manipulator 1.
  • the mobile manipulator 1 includes a mobile robot 2 and a manipulator (electrical load) 31.
  • the mobile robot 2 includes a control unit 10, a battery 21, a voltage measuring unit 22, and a traveling device 23.
  • the mobile robot 2 is an automatic guided vehicle that can be equipped with various electric devices (electrical loads).
  • the control unit 10 has a function of controlling each unit of the mobile manipulator 1 in an integrated manner.
  • the battery 21 is a secondary battery that supplies electric power to each part (control unit 10, traveling device 23, and manipulator 31) of the mobile manipulator 1.
  • the mobile manipulator 1 charges electric power by charging the battery 21 at a predetermined charging station or replacing the battery 21 with a charged battery.
  • the voltage measuring unit 22 measures the voltage of the battery 21.
  • the voltage measuring unit 22 outputs the measured voltage to the control unit 10.
  • the traveling device 23 is a device for traveling the mobile robot 2.
  • the traveling device 23 operates using the electric power supplied from the battery 21.
  • the manipulator 31 is an electric load mounted on the mobile robot 2.
  • the electric load is not limited to the manipulator 31, and may be any electric load.
  • the manipulator 31 includes a multi-axis high-output motor and a large-capacity regulated power supply device. Therefore, the inrush current at startup tends to be large.
  • the electric load may be a conveyor, a motor, an electric cylinder, a vacuum pump, a DC-AC inverter, a DC-DC converter, a battery charger, a heat insulator, a cold insulator, or an arithmetic processing device that requires a large current. You may.
  • the control unit 10 includes a voltage acquisition unit 11, a condition determination unit 12, a start control unit 13, an output control unit 14, and an input unit 15.
  • the control unit 10 may also control the operation of the traveling device 23 or the operation of the manipulator 31.
  • the voltage acquisition unit 11 acquires the voltage measured by the voltage measurement unit 22. The acquired voltage is transmitted to the condition determination unit 12.
  • the condition determination unit 12 determines whether or not the acquired voltage is within a preset specific range.
  • the condition determination unit 12 transmits the determination result to the start control unit 13 and the output control unit 14.
  • the specific range can be set arbitrarily.
  • the activation control unit 13 outputs a signal for activation to the manipulator 31 according to the determination result of the condition determination unit 12.
  • the start control unit 13 determines that the voltage acquired by the condition determination unit 12 is within the specific range, the start control unit 13 prohibits the activation of the manipulator 31, and when it is determined that the acquired voltage is not within the specific range, the manipulator Allow 31 to start and start. Further, the activation control unit 13 permits the activation and travel of the traveling device 23 (does not prohibit the activation and operation) regardless of the result of the condition determination unit 12.
  • the operator or the management server uses an external device to indicate that the voltage of the battery 21 is not suitable for starting the manipulator 31. Notify to.
  • the output control unit 14 may notify the operator by using an external device such as a display, a buzzer or a signal tower (not shown) for notification.
  • the operator or the administrator who sees the management server may replace or charge the battery 21 so that the measured voltage is out of the specific range.
  • the input unit 15 has a function of setting a specific range used for determination in the condition determination unit 12.
  • the input unit 15 may communicate with an external personal computer via a network, receive an input for changing a specific range, and set a specific range.
  • the communication means may be any communication standard, and may be, for example, USB (Universal Serial Bus) (registered trademark), Ethernet (registered trademark) or Wi-Fi (registered trademark).
  • FIG. 2 is a flowchart showing the processing of the mobile manipulator 1 when the battery 21 is replaced when the voltage of the battery 21 is in a specific range. It is assumed that the remaining charge of the battery 21 is sufficient for operating the mobile manipulator 1.
  • the operator turns on the power of the mobile manipulator 1.
  • the mobile manipulator 1 does not turn on the entire power of the mobile manipulator 1 at the same time, but turns on the power in order from the necessary part in order. That is, the mobile manipulator 1 first turns on the power to the control unit 10, and then turns on the power to the voltage measuring unit 22 and the traveling device 23.
  • the power supply of the manipulator 31 is not turned on in S11, but is turned on in the subsequent steps.
  • the voltage measuring unit 22 measures the voltage of the battery 21.
  • the voltage acquisition unit 11 acquires the voltage of the battery 21 measured by the voltage measurement unit 22.
  • the voltage acquisition unit 11 transmits the acquired voltage of the battery 21 to the condition determination unit 12.
  • the condition determination unit 12 determines whether or not the acquired voltage of the battery 21 is within a preset specific range.
  • the specific range is a set value set by the input unit 15, and is a voltage range of the battery 21 that prohibits the activation of the manipulator 31.
  • the specific range is a part of the voltage range in which the manipulator 31 can be operated normally.
  • the condition determination unit 12 transmits the determination result to the start control unit 13 and the output control unit 14.
  • the transition to S14 occurs.
  • the start control unit 13 turns on the power to the manipulator 1 (starts the manipulator 1). This is because the acquired voltage of the battery 21 is not within the specific range, and it is considered that the output current of the battery 21 including the inrush current of the manipulator 31 is equal to or less than the rated current of the battery 21. Therefore, the condition determination unit 12 determines that the manipulator 31 may be powered on.
  • the output current of the battery 21 includes not only the inrush current of the manipulator 31 but also the current to other operating devices (control unit 10, traveling device 23, etc.).
  • the control unit 10 ends the activation process.
  • the start control unit 13 only prohibits the power on of the manipulator 31, and does not prohibit the start of the traveling device 23. Therefore, even if the voltage of the battery 21 is within the specific range by the condition determination unit 12, the start control unit 13 permits the travel by the traveling device 23.
  • the mobile manipulator 1 can be moved to an arbitrary position such as a charging / discharging station for charging / discharging or a standby position that does not interfere with the work site.
  • the start control unit 13 does not prohibit the started manipulator 31 from continuing to operate even if the voltage of the battery 21 is within a specific range. Even if the output voltage of the battery 21 is within a specific range, the manipulator 31 can be normally operated by the battery 21. Therefore, even if the voltage of the battery 21 falls within a specific range while the manipulator 31 is operating, the start control unit 13 does not turn off the power of the manipulator 31 and continues the operation of the manipulator 31.
  • the magnitude of the inrush current when an electric load (manipulator 31 or the like) is started changes according to the output voltage of the battery 21. Therefore, the range (specific range) of the output voltage at which the inrush current becomes excessive differs depending on the electric load mounted on the mobile robot.
  • the inrush current becomes larger than a predetermined value in the voltage range where the output voltage of the battery 21 is low.
  • the electric load may be set in a specific range from A to C in the operable voltage range (A to B) (A ⁇ C ⁇ B).
  • the electric load is equipped with a capacitor having a large capacitance on the input primary side and a power supply device designed to stabilize the output voltage, the inrush current will be generated in the voltage range where the output voltage of the battery 21 is low. It becomes larger than a predetermined value.
  • the electric load may be set in a specific range from D to B in the operable voltage range (A to B) (A ⁇ D ⁇ B).
  • the electric load may be set in a specific range from C to D in the operable voltage range (A to B) (A ⁇ C ⁇ D ⁇ B). Further, when the inrush current becomes larger than a predetermined value in a plurality of voltage ranges separated from each other, the corresponding plurality of voltage ranges may be set in a specific range.
  • the battery 21 supplies electric power in addition to the electric load.
  • a voltage range in which the total of the current supplied by the battery 21 to another device (traveling device or the like) and the inrush current of the electric load exceeds the rated current of the battery 21 is set in a specific range.
  • the output control unit 14 uses an external device such as a display, a buzzer, or a signal tower (not shown) to notify the operator that the voltage of the battery 21 is within a specific range and therefore the manipulator 31 cannot be turned on. do. At this time, the output control unit 14 may not only notify the operator, or may issue a notification to the management server instead of notifying the operator.
  • an external device such as a display, a buzzer, or a signal tower (not shown) to notify the operator that the voltage of the battery 21 is within a specific range and therefore the manipulator 31 cannot be turned on. do.
  • the output control unit 14 may not only notify the operator, or may issue a notification to the management server instead of notifying the operator.
  • the operator may replace the battery 21 of the mobile manipulator 1 with a charged battery 21.
  • the control unit 10 processes S12 again, measures the voltage of the battery 21, and activates the manipulator 31 through the processing steps S13 to S14.
  • the activation timing of the manipulator 31 is not limited to the activation of the mobile manipulator 1. During the period when the manipulator 31 is not used, the mobile manipulator 1 may run with the power of the manipulator 31 turned off. The mobile manipulator 1 may perform the processing after S12 in order to activate the manipulator 31 at the timing when the manipulator 31 is used.
  • the mobile robot 2 may include a battery for supplying electric power to the traveling device 23 and the control unit 10 separately from the battery 21.
  • the battery 21 may be additionally attached to the mobile robot 2 according to the electric load mounted on the mobile robot 2.
  • the mobile robot 2 may include a controller that controls the operation of the traveling device 23 or the operation of the manipulator 31 in addition to the control unit 10.
  • FIG. 3 is a flowchart showing the processing of the mobile manipulator 1 in the case of charging / discharging the battery 21 when the voltage of the battery 21 is in a specific range.
  • S17 in FIG. 2 is replaced with S18.
  • the mobile manipulator 1 is moved by the traveling device 23 to a charging station (not shown).
  • the charging station charges the battery 21.
  • the relatively high voltage range is a specific range in the voltage range in which the electric load can be operated
  • the charging station discharges the battery 21. That is, the charging station charges and discharges the battery 21 so that the voltage of the battery 21 is out of the specific range. If the mobile manipulator 1 has already been moved to the charging station, the charging / discharging station charges / discharges the battery 21 so that the voltage of the battery 21 is out of the specific range without moving.
  • the manipulator 31 can be started by discharging the battery 21 to an appropriate voltage at the charging / discharging station.
  • the condition determination unit 12 determines whether the output current of the battery 21 including the inrush current of the manipulator 31 exceeds the rated current of the battery 21 depending on whether the voltage of the battery 21 falls within a specific range. Can be determined. If the output current of the battery 21 including the inrush current is larger than the rated current, the manipulator 31 cannot be started normally, and the battery 21 may be damaged. Alternatively, there is a possibility that the battery 21 stops the output due to the operation of the protection circuit of the battery 21, and the traveling device 23 or the like does not operate. Therefore, in the mobile robot 2, when the inrush current is larger than the rated current, it is an effective measure to prohibit the power on of the manipulator 31.
  • the start control unit 13 turns on the power of the traveling device 23 and travels on the mobile manipulator 1 even when the voltage of the battery 21 is within a specific range and the power of the manipulator 31 is prohibited. Can be made to. Therefore, the traveling device 23 allows the mobile manipulator 1 to move to the charging / discharging station, and can charge / discharge the voltage of the battery 21 to a voltage that does not fall within a specific range.
  • the output control unit 14 can notify the operator or the management server that the voltage of the battery 21 is within a specific range and that the power on of the manipulator 31 is prohibited. Therefore, the operator or the management server can replace the battery 21 of the mobile manipulator 1 with a charged battery 21, or the mobile manipulator 1 can be moved to the charging station by the traveling device 23 to be charged and discharged.
  • the input unit 15 can receive an external input and arbitrarily set a specific range. Therefore, even if the configuration of the mobile manipulator 1 is changed, the battery 21 can be prevented from being damaged by changing the setting in a specific range.
  • the user can mount an arbitrary electric load on the mobile robot and set a specific range according to the electric load.
  • FIG. 4 is a block diagram showing the configuration of a main part of the mobile manipulator 1a.
  • the mobile manipulator 1a includes a mobile robot 2a and a manipulator 31.
  • the mobile robot 2a includes a control unit 10a instead of the control unit 10.
  • the control unit 10a includes a configuration grasping unit 16 instead of the input unit 15.
  • the configuration grasping unit 16 grasps the system configuration from the changed part of the operation program at the stage where the configuration of the mobile manipulator 1a is changed and the operation program is changed. For example, the configuration grasping unit 16 identifies the electric load mounted on the mobile robot 2 from the operation program. In the configuration grasping unit 16, the value of the inrush current at each voltage corresponding to a plurality of electric loads may be registered in advance. The user can register the value of the inrush current in the configuration grasping unit 16 by measuring the inrush current at each voltage for a plurality of electric loads in advance. Further, the configuration grasping unit 16 registers current values during operation (or steady state) of a plurality of other devices (control unit 10, traveling device 23, various sensors, display devices, etc.) that the mobile robot 2 can have.
  • a plurality of specific ranges suitable for each of the plurality of electric loads may be registered in advance in the configuration grasping unit 16. From this information, the configuration grasping unit 16 determines that the voltage of the battery 21 such that the total of the operating current of other devices included in the mobile robot 2 and the inrush current of the electric load exceeds the rated current of the battery 21. Specify a specific range. The configuration grasping unit 16 sets the specified new specific range in the condition determination unit 12. As a result, the configuration grasping unit 16 can grasp that other devices included in the mobile robot 2 have been changed or added (change in the system configuration), and set a specific range suitable for the changed system configuration. can.
  • the configuration grasping unit 16 is not limited to grasping the system configuration based on the change of the operation program, and may communicate with the constituent device by IO-Link (registered trademark) or the like to detect the system change.
  • the configuration grasping unit 16 can obtain information such as the model or power consumption of the constituent device from the constituent device itself. As a result, the configuration grasping unit 16 may change a specific range.
  • the configuration grasping unit 16 can change the specific range by detecting the change in the system configuration without inputting the setting of the operator and grasping the system configuration.
  • the condition determination unit 12 can make a determination in a new specific range in the new system configuration, and can prevent the battery 21 from being damaged.
  • FIG. 5 is a block diagram showing a configuration of a main part of the mobile manipulator 1b.
  • the mobile manipulator 1b includes a mobile robot 2b and a manipulator 31.
  • the mobile robot 2b further includes a transformer device 32.
  • the transformer device 32 includes, for example, a DC-DC converter 33 and a power supply multiplexer 34.
  • the power multiplexer 34 is a device that switches the power system by an electromagnetic contactor, a relay, or a semiconductor circuit.
  • the voltage of the battery 21 is input to the DC-DC converter 33 and the power multiplexer 34 of the transformer device 32.
  • the output voltage of the DC-DC converter 33 is input to the power supply multiplexer 34.
  • the output voltage of the power multiplexer 34 is supplied to the manipulator 31.
  • the power multiplexer 34 switches which input is output to the manipulator 31 according to the instruction of the start control unit 13.
  • the transformer device 32 is a device that boosts or lowers the voltage input from the battery 21 to supply electric power to the manipulator 31. If the specific range is set to a low voltage, the transformer 32 boosts the voltage, and if the specific range is set to a high voltage, the transformer 32 steps down the voltage to input the voltage to the manipulator 31. Transform to a voltage outside the specified range.
  • the transformation ratio of the DC-DC converter 33 may be preset.
  • FIG. 6 is a flowchart showing the processing of the mobile manipulator 1b. S11 to S13 are the same as the flow shown in FIG.
  • the start control unit 13 instructs the power multiplexer 34 to output the voltage of the battery 21 to the manipulator 31 (S21).
  • the activation control unit 13 activates the manipulator 31 (S14).
  • the start control unit 13 When it is determined that the voltage of the battery 21 is within the specific range (Yes in S13), the start control unit 13 outputs the voltage of the battery 21 transformed by the DC-DC converter 33 to the manipulator 31. Instruct the power supply multiplexer 34 (S22). At the same time, the activation control unit 13 activates the manipulator 31.
  • the voltage output by the transformer device 32 that is, the voltage input by the manipulator 31 is the transformer device. It is transformed into a voltage that does not fall within a specific range by 32. Therefore, there is an advantage that the manipulator 31 can always be activated.
  • control blocks of the mobile manipulator 1 and the mobile manipulator 1a are integrated circuits (IC chips). It may be realized by a logic circuit (hardware) formed in the above, or it may be realized by software.
  • the mobile manipulator 1 and the mobile manipulator 1a include a computer that executes a program instruction, which is software that realizes each function.
  • the computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention.
  • a processor for example, a CPU (Central Processing Unit) can be used.
  • the recording medium a “non-temporary tangible medium”, for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used.
  • a RAM RandomAccessMemory
  • the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.
  • the mobile robot is a mobile robot capable of mounting an electric load, and has a voltage acquisition unit for acquiring the voltage of a battery that supplies power to the electric load.
  • a voltage acquisition unit for acquiring the voltage of a battery that supplies power to the electric load.
  • the condition determination unit for determining whether the voltage is within the specific range and the condition determination unit determine that the voltage is within the specific range (i) the activation of the electric load is prohibited.
  • a start control unit that supplies the voltage of the transformed battery to the electric load to activate the electric load, and the specific range can operate the electric load. It is a part of the voltage range.
  • the activation control unit may prohibit the activation of the electric load.
  • the mobile robot further includes a traveling device that is supplied with electric power from the battery to drive the mobile robot, and the activation control unit permits the activation of the traveling device regardless of the determination result of the condition determination unit. May be good.
  • the traveling device can operate even in a situation where the activation of the electric load is prohibited. Therefore, it can be moved by the traveling device, and the starting condition of the electric load can be adjusted by charging and discharging the battery.
  • the mobile robot may further include an output control unit that notifies when the condition determination unit determines that the voltage is within the specific range.
  • the mobile robot may further include an input unit that accepts an input that changes the specific range.
  • the mobile robot further includes a configuration grasping unit for grasping the system configuration of the mobile robot, and when the configuration grasping unit detects a change in the system configuration, the specific range is set so as to conform to the system configuration. You may change it.
  • the specific range can be changed.
  • a transformer device for transforming and outputting the voltage from the battery to a range outside the specific range is provided, and the start control unit is transformed by the transformer device when it is determined that the voltage is within the specific range.
  • the electric load may be activated by supplying a voltage to the electric load.
  • the voltage input to the electric load can be set to not be in the specific range. Therefore, the starting condition of the electric load can be adjusted regardless of the voltage of the battery.
  • the mobile robot includes a manipulator as the electric load.
  • the method for controlling a mobile robot includes a voltage acquisition step of acquiring the voltage of a battery that supplies power to an electric load mounted on the mobile robot, and determining whether the voltage is within a specific range. When it is determined in the condition determination step and the condition determination step that the voltage is within the specific range, (i) the activation of the electric load is prohibited, or (ii) the voltage of the transformed battery.
  • the specific range is a voltage range of a part of the voltage range in which the electric load can be operated, including a start control step of supplying the electric load to the electric load to activate the electric load.
  • the mobile robot according to each aspect of the present invention may be realized by a computer.
  • the mobile robot is realized by the computer by operating the computer as each part (software element) included in the mobile robot.
  • a control program for a mobile robot and a computer-readable recording medium on which it is recorded also fall within the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transportation (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

Un robot mobile (1) permettant la fourniture d'un robot mobile qui empêche le courant de sortie d'une batterie de dépasser le courant nominal en raison d'un courant d'appel d'une charge électrique comprend une unité d'acquisition de tension (11) destinée à acquérir la tension d'une batterie (21) destinée à fournir de l'énergie électrique à un manipulateur (31), une unité de détermination de condition (12) destinée à déterminer si la tension se situe dans une plage spécifique et une unité de commande de mise en marche (13) destinée à désactiver la mise en marche du manipulateur (31) lorsqu'il est déterminé que la tension est située dans la plage spécifique. La plage spécifique est une plage de tension qui représente une portion de la plage de tension dans laquelle le manipulateur (31) peut être actionné.
PCT/JP2021/008765 2020-09-28 2021-03-05 Robot mobile, manipulateur mobile, procédé de commande de robot mobile WO2022064737A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202180058145.5A CN116056846A (zh) 2020-09-28 2021-03-05 移动机器人、移动操纵器以及移动机器人的控制方法
EP21871873.2A EP4219097A4 (fr) 2020-09-28 2021-03-05 Robot mobile, manipulateur mobile, procédé de commande de robot mobile
US18/020,426 US20230294311A1 (en) 2020-09-28 2021-03-05 Mobile robot, mobile manipulator, method for controlling mobile robot, and non-transitory computer readable medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-162475 2020-09-28
JP2020162475A JP7508975B2 (ja) 2020-09-28 2020-09-28 モバイルロボット、モバイルマニピュレータ、およびモバイルロボットの制御方法

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Publication Number Publication Date
WO2022064737A1 true WO2022064737A1 (fr) 2022-03-31

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EP (1) EP4219097A4 (fr)
JP (1) JP7508975B2 (fr)
CN (1) CN116056846A (fr)
WO (1) WO2022064737A1 (fr)

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JP2007161016A (ja) 2005-12-12 2007-06-28 Toyota Motor Corp 車両内電源供給システム
JP2009096383A (ja) * 2007-10-18 2009-05-07 Denso Corp 車両用電源管理装置
JP5356439B2 (ja) * 2011-03-04 2013-12-04 古河電気工業株式会社 充電制御装置および充電制御方法
BR112015004301A2 (pt) * 2012-08-29 2017-07-04 Honda Access Kk sistema para monitorar a bateria de um veículo
EP3034351B1 (fr) * 2014-12-01 2024-04-24 Marelli Europe S.p.A. Dispositif électronique pour piloter la charge d'une charge électrique alimentée par un bloc batterie et système pour déplacer un véhicule électrique ou hybride en utilisant ledit dispositif
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JP2006081369A (ja) * 2004-09-13 2006-03-23 Casio Comput Co Ltd 電子機器
JP2006285547A (ja) 2005-03-31 2006-10-19 Secom Co Ltd 移動ロボット及び移動ロボットによる監視システム
JP2007221847A (ja) * 2006-02-14 2007-08-30 Nippon Telegr & Teleph Corp <Ntt> 電池システムの放電制御法ならびにそれを実行するためのプログラムおよび該プログラムを記録した記録媒体
JP2016195496A (ja) * 2015-03-31 2016-11-17 古河電気工業株式会社 電源装置および電源装置の制御方法

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JP2022055096A (ja) 2022-04-07
EP4219097A1 (fr) 2023-08-02
JP7508975B2 (ja) 2024-07-02
CN116056846A (zh) 2023-05-02
US20230294311A1 (en) 2023-09-21
EP4219097A4 (fr) 2024-10-23

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